CN106602950A - Current loop decoupling control method and system based on complex vector - Google Patents

Abstract

The invention relates to the permanent magnet synchronous motor control field, and discloses a control method and system for current loop decoupling control based on complex vector. In the invention, according to the d-axis and q-axis voltage equations of the permanent magnet synchronous motor, a first complex vector transfer function of the current loop controlled object of the complex vector model of the permanent magnet synchronous motor is constructed on a d-q coordinate system. The current speed of the permanent magnet synchronous motor is introduced into the current loop of the complex vector model of the permanent magnet synchronous motor, and a second complex vector transfer function of a complex vector decoupling controller with complex zero point is constructed. The core parameters of the second complex vector transfer function of the complex vector decoupling controller are set so that the complex zero point of the second complex vector transfer function is completely canceled with the pole of the first complex vector transfer function of the current loop controlled object. When the control loop of the permanent magnet synchronous motor is controlled by the complex vector decoupling controller, the control performance of the current loop can be effectively increased.

Description

Electric current loop decoupling control method and system based on complex vector

Technical field

The present invention relates to permagnetic synchronous motor control field, more particularly to the electric current loop decoupling control method based on complex vector And system.

Background technology

Permagnetic synchronous motor (permanent magnet synchronous motors, PMSM) is because of its efficiency high, volume The features such as little, power density is big, torque pulsation is little and be widely used in AC servo field.Vector controlled it is high performance forever Magnetic-synchro SERVO CONTROL field obtains a wide range of applications, and the synchronous proportional based on synchronous coordinate system integrates (proportional Integral, PI) controller can realize the regulation of current-order in the larger range of speeds and track, and steady track Can be good, thus become the industrial standard of alternating current generator current control.

Under synchronous rotating frame, there are cross-couplings in d-q axles, and with the rising of rotating speed, coupled voltages account for fixed The proportion of sub- voltage gradually increases, and the impact of coupling also can be increasingly severe.Electric voltage feed forward uneoupled control (voltage Feed forward decoupling control, VFDC) coupling terms are calculated using feedback current and rotating speed, use electric voltage feed forward To offset the coupling terms of rotating coordinate transformation introducing.Compared with traditional Current Feedback Control, response speed can be improved and moved Step response.But electric voltage feed forward uneoupled control is sensitive to Parameters variation.In system operation, the change of the parameter of electric machine can cause Cross decoupling item is inaccurate in voltage equation, and during low switching frequency, also cannot be full decoupled, and then cause electric current to adjust The dynamic property of device is not very good.

To improve decoupling effect, scholars propose different schemes：Dynamic decoupling strategy can realize d, q shaft current Systematic steady state performance is decoupled and improved, but needs larger proportional gain, easily cause overshoot；Decoupling controller based on internal model It is a kind of decoupling method with robustness, but needs to be done between decoupling effect and response speed to compromise；Solution based on deviation Coupling controller has the advantage of Internal Model Decoupling concurrently, but system occurs reforming phenomena into before stable state；Decoupling based on neutral net Method, needs to find rule in advance, it has not been convenient to promote the use of.

The content of the invention

It is an object of the invention to provide a kind of electric current loop decoupling control method and system based on complex vector, can effectively carry The control performance of high current ring.

To solve above-mentioned technical problem, embodiments of the present invention provide a kind of electric current loop decoupling control based on complex vector Method processed, comprises the steps of：

Obtain the first complex vector transmission function of the electric current loop controlled device of the complex vector model of permagnetic synchronous motor；

The current rotating speed of permagnetic synchronous motor is introduced the electric current loop of the complex vector model of permagnetic synchronous motor, one is constructed There is the second complex vector transmission function of the complex vector decoupling controller of plural zero point；

The core parameter of the second complex vector transmission function of setting complex vector decoupling controller so that the second complex vector is transmitted The plural zero point of function is offseted completely with the limit of the first complex vector transmission function of electric current loop controlled device；

The electric current loop of permagnetic synchronous motor is controlled using complex vector decoupling controller.

Embodiments of the present invention additionally provide a kind of electric current loop decoupling and controlling system based on complex vector, comprising：Multiple arrow Amount decoupling controller, SVPWM inverters, permagnetic synchronous motor and speed ring PI controllers, complex vector decoupling controller with SVPWM inverters, speed ring PI controllers and permagnetic synchronous motor connection, permagnetic synchronous motor is connected with SVPWM inverters, Speed ring PI controllers are also connected with permagnetic synchronous motor, wherein, the electric current loop of the complex vector model of permagnetic synchronous motor is controlled The plural number zero of the limit of the first complex vector transmission function of object and the second complex vector transmission function of complex vector decoupling controller Point is offseted completely.

Embodiment of the present invention in terms of existing technologies, obtains the electric current loop of the complex vector model of permagnetic synchronous motor First complex vector transmission function of controlled device；The current rotating speed of permagnetic synchronous motor is introduced into the complex vector of permagnetic synchronous motor The electric current loop of model, constructing one has the second complex vector transmission function of complex vector decoupling controller of plural zero point；Setting is multiple The core parameter of the second complex vector transmission function of vector decoupling control device so that the plural zero point of the second complex vector transmission function Offset completely with the limit of the first complex vector transmission function of electric current loop controlled device；Using complex vector decoupling controller to permanent magnetism The electric current loop of synchronous motor is controlled, and can effectively improve the control performance of electric current loop.

In addition, the current rotating speed of permagnetic synchronous motor to be introduced the electric current loop construction of the complex vector model of permagnetic synchronous motor Complex vector decoupling controller complex vector model：

Complex vector decoupling controller complex vector model is subtracted each other with the complex vector model of permagnetic synchronous motor, eliminates anti-electronic Gesture item, the second complex vector transmission function for obtaining complex vector decoupling controller is：

Wherein, K_p、K_a、K_iFor the core parameter of complex vector decoupling controller, s is differential operator, by adjusting complex vector solution The core parameter of coupling controller, can control the zero point of the second complex vector transmission function and swear again with the first of electric current loop controlled device The limit of amount transmission function is offseted completely, effectively improves the control performance of electric current loop.

In addition, the core parameter of the second complex vector transmission function of setting complex vector decoupling controller so that the second multiple arrow The plural zero point of amount transmission function is offseted completely with the limit of the first complex vector transmission function of electric current loop controlled device, including：

Work as K_a=1/K_p+jω_e/K_iWhen, in the second complex vector transmission function of complex vector decoupling controllerBefore The coefficient in face can offset a zero pole point；

The plural zero point of the second complex vector transmission function of complex vector decoupling controller is-K_i/K_p-jω_e, work as K_p/K_i= L_s/R_sWhen, plural zero point is offseted completely with the limit in the first complex vector transmission function, can effectively improve the controlling of electric current loop Energy.

In addition, also being included based on the electric current loop decoupling control method of complex vector：According to the second of complex vector decoupling controller The voltage x current vector of d axles, q axles, again contravariant changes scalar into complex vector transmission function, realizes complex vector decoupling controller, can have Effect improves the control performance of electric current loop.

Description of the drawings

Fig. 1 is that the flow process of the electric current loop decoupling control method based on complex vector according to first embodiment of the invention is illustrated Figure；

Fig. 2 is the schematic flow sheet of step S10 in Fig. 1；

Fig. 3 is the complex vector model schematic of the motor according to first embodiment of the invention；

Fig. 4 is the complex vector model schematic of the complex vector decoupling controller according to first embodiment of the invention；

Fig. 5 is the attainable dq shaft currents ring model schematic diagram according to first embodiment of the invention；

Fig. 6 is the structural representation of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention；

Fig. 7 is the current tracking emulation of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention Effect diagram；

Fig. 8 is the rotating speed simulated effect of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention Schematic diagram；

Fig. 9 is the current tracking waveform diagram of electric voltage feed forward decoupling and controlling system of the prior art；

Figure 10 is the current tracking ripple of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention Shape schematic diagram.

Specific embodiment

To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the invention, In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base Many variations and modification in following embodiment, it is also possible to realize the application technical scheme required for protection.

The first embodiment of the present invention is related to a kind of electric current loop decoupling control method based on complex vector.Idiographic flow is such as Shown in Fig. 1, included based on the electric current loop decoupling control method of complex vector：

Step S10：Obtain the first complex vector transmission of the electric current loop controlled device of the complex vector model of permagnetic synchronous motor Function.

In embodiments of the present invention, by taking the permagnetic synchronous motor of surface-mount type as an example, using i_dDuring=0 control, permanent magnetism is same The d axles of step motor, q shaft voltage equations are：

Wherein, the flux linkage equations of d, q axle are：

ψ_d、ψ_qIt is respectively d, q axle magnetic linkage, i_d、i_qIt is respectively d, q shaft current, L_d、L_qIt is respectively d, q axle synchronous inductance, ψ_fIt is Rotor flux, ω_eIt is electromagnetism rotating, R is stator resistance.

Define complex vectorThen permagnetic synchronous motor voltage and current complex vector can be expressed as：

Referring to Fig. 2, in step slo, including：

Step S100：D axles, q shaft voltage equations according to permagnetic synchronous motor, in d-q coordinate systems permanent-magnet synchronous are constructed The complex vector model of motor：

Wherein, for the permagnetic synchronous motor of surface-mount type, L_d=L_q=L_s, R=R_s, p is differential operator,WithPoint It is not the voltage and current of complex vector.

Step S101：Passed according to the first complex vector that the complex vector model of permagnetic synchronous motor obtains electric current loop controlled device Delivery function：

Wherein, by counter electromotive force e=j ω_eψ_fAs disturbance term.It is known that the first complex vector transmission function from above formula Limit be-R_s/L_s-jω_e。

The open-loop transfer function of electric current loop controlled device only exists a complex poles, p=-R_s/L_s-jω_e.When output frequency When rate is 0, limit is located at negative real axis；With the increase of output frequency, limit position on a complex plane can be gradually deviated from negative real Axle.

After being converted into complex vector, the mathematical model of permagnetic synchronous motor is for conversion into by original multi-input multi-output system Equivalent single-input single-output system, the block diagram of the complex vector model of its corresponding motor is referring to Fig. 3.

Step S11：The current rotating speed of permagnetic synchronous motor is introduced the electric current loop of the complex vector model of permagnetic synchronous motor, Construction one has the second complex vector transmission function of the complex vector decoupling controller of plural zero point.

In step s 11, increase an imaginary axis zero point with velocity variations, allow the zero point and quilt of complex vector decoupling controller Limit p=-R of control object_s/L_s-jω_eOffset completely, obtain the electric current ring structure based on complex vector decoupling controller referring to figure 4.E andIt is respectively counter electromotive force item and the counter electromotive force item estimated；Additionally, folding in the output item of complex vector decoupling controller Rotation decoupling item is addedWith the counter electromotive force item estimated

Wherein, the complex vector model of controlled device part is as follows：

By answering for the electric current loop construction of the complex vector model of the current rotating speed introducing permagnetic synchronous motor of permagnetic synchronous motor The complex vector model of vector decoupling control device is：

Complex vector decoupling controller complex vector model is subtracted each other with the complex vector model of permagnetic synchronous motor, will (6), (7) formula eliminates counter electromotive force item to subtracting, and the second complex vector transmission function for obtaining complex vector decoupling controller is：

Wherein, K_p、K_a、K_iFor the core parameter of complex vector decoupling controller, s is differential operator.

In Fig. 4, simultaneously be input to inverter PWM Inverter carries out amplitude limit, inverter PWM to the output voltage of d, q axle The output voltage of Inverter is limited within hexagon, if the output voltage of complex vector decoupling controllerExceed Hexagonal boundaries, then the output voltage after modulation can be rested at hexagonal boundaries, therefore, after amplitude limit on each coordinate axes Voltage be mutually decoupling, and eliminate integration amplitude limit link.

Step S12：The core parameter of the second complex vector transmission function of setting complex vector decoupling controller so that second answers The plural zero point of vector transmission function is offseted completely with the limit of the first complex vector transmission function of electric current loop controlled device.

Knowable in (8) formula, K is taken_a=1/K_p+jω_e/K_iWhen,The multiple arrow of the second of complex vector decoupling controller In amount transmission functionCoefficient above can offset a zero pole point, and now (8) formula can be turned to：

Knowable to (9) formula, the plural zero point of the second complex vector transmission function of complex vector decoupling controller is-K_i/K_p-j ω_e, and the position of zero point changes with speed.

Work as K_p/K_i=L_s/R_sWhen, the plural zero point and first of the second complex vector transmission function of complex vector decoupling controller Limit in complex vector transmission function is offseted completely, and now, (9) formula can be turned to：

Thus, counteracting the coupling terms produced during rotating coordinate transformation in full speed range

Step S13：The electric current loop of permagnetic synchronous motor is controlled using complex vector decoupling controller.

In step s 13, it is according to the second complex vector transmission function of complex vector decoupling controller that the voltage of d axles, q axles is electric Again contravariant changes scalar into flow vector, realizes complex vector decoupling controller.The attainable dq shaft currents ring model for finally giving is such as Shown in Fig. 5, wherein, d axles, the electric current of q axlesRespectively through biography after the complex vector decoupling controller process of d axles, q axles Inverter PWM Inverter are transported to, is transmitted to PMSM Jing after inverter PWM Inverter conversions, to control the electric current of PMSM Ring.

The embodiment of the present invention is answered by obtain the electric current loop controlled device of the complex vector model of permagnetic synchronous motor first Vector transmission function；The current rotating speed of permagnetic synchronous motor is introduced the electric current loop of the complex vector model of permagnetic synchronous motor, structure Make the second complex vector transmission function of a complex vector decoupling controller for having plural zero point；Setting complex vector decoupling controller The core parameter of the second complex vector transmission function so that the plural zero point of the second complex vector transmission function and electric current loop controlled device The limit of the first complex vector transmission function offset completely；Using electric current loop of the complex vector decoupling controller to permagnetic synchronous motor It is controlled, the control performance of electric current loop can be effectively improved.

Above the step of various methods divide, be intended merely to description it is clear, can merge into when realizing a step or Some steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection domain of this patent It is interior；To either adding inessential modification in algorithm in flow process or introducing inessential design, but its algorithm is not changed With the core design of flow process all in the protection domain of the patent.

Second embodiment of the present invention is related to a kind of electric current loop decoupling and controlling system based on complex vector.As shown in fig. 6, Included based on the electric current loop decoupling and controlling system of complex vector：Complex vector decoupling controller, SVPWM inverters, permagnetic synchronous motor And speed ring PI controllers (PMSM).

Complex vector decoupling controller is connected with SVPWM inverters, speed ring PI controllers and permagnetic synchronous motor.Permanent magnetism Synchronous motor is connected with SVPWM inverters, and speed ring PI controllers are also connected with permagnetic synchronous motor, wherein, permanent magnet synchronous electric The limit of the first complex vector transmission function of the electric current loop controlled device of the complex vector model of machine and complex vector decoupling controller The plural zero point of the second complex vector transmission function is offseted completely.

In embodiments of the present invention, by taking the permagnetic synchronous motor of surface-mount type as an example, using i_dDuring=0 control, permanent magnetism is same The d axles of step motor, q shaft voltage equations are：

Wherein, the flux linkage equations of d, q axle are：

ψ_d、ψ_qIt is respectively d, q axle magnetic linkage, i_d、i_qIt is respectively d, q shaft current, L_d、L_qIt is respectively d, q axle synchronous inductance, ψ_fIt is Rotor flux, ω_eIt is electromagnetism rotating, R is stator resistance；

Permagnetic synchronous motor voltage and current complex vector can be expressed as：

The complex vector model of permagnetic synchronous motor is d axles, the q shaft voltage equation according to permagnetic synchronous motor, in d-q coordinates Fasten construction to be formed：

Wherein, for the permagnetic synchronous motor of surface-mount type, L_d=L_q=L_s, R=R_s, p is differential operator,WithPoint It is not the voltage and current of complex vector；

First complex vector transmission function of the electric current loop controlled device of the complex vector model of permagnetic synchronous motor is according to permanent magnetism The complex vector model of synchronous motor is obtained：

Wherein, counter electromotive force e=j ω_eψ_fFor disturbance term, it is known that the pole of the first complex vector transmission function from above formula Point is-R_s/L_s-jω_e。

It can be seen that, the open-loop transfer function of electric current loop controlled device only exists a complex poles, p=-R_s/L_s-jω_e.When When output frequency is 0, limit is located at negative real axis；With the increase of output frequency, limit position on a complex plane can be gradually inclined From negative real axis.After being converted into complex vector, the mathematical model of permagnetic synchronous motor is transformed into by original multi-input multi-output system For equivalent single-input single-output system.

In embodiments of the present invention, increase an imaginary axis zero point with velocity variations, allow complex vector decoupling controller Limit p=-R of zero point and controlled device_s/L_s-jω_eOffset completely, obtain the electric current loop based on complex vector decoupling controller and tie Structure.Preferably, the second complex vector transmission function is to introduce permagnetic synchronous motor by the current rotating speed by permagnetic synchronous motor The electric current loop of complex vector model constructs to be formed：

Wherein, K_p、K_a、K_iFor the core parameter of complex vector decoupling controller.

Specifically, the complex vector model of controlled device part is as follows：

By answering for the electric current loop construction of the complex vector model of the current rotating speed introducing permagnetic synchronous motor of permagnetic synchronous motor The complex vector model of vector decoupling control device is：

Complex vector decoupling controller complex vector model subtracts each other with the complex vector model of permagnetic synchronous motor, can eliminate anti-electronic Gesture item, that is, obtain the second complex vector transmission function of complex vector decoupling controller.

In embodiments of the present invention, the core of the second complex vector transmission function of complex vector decoupling controller can be set Parameter so that the pole of the plural zero point of the second complex vector transmission function and the first complex vector transmission function of electric current loop controlled device Point is offseted completely.

Specifically, in the second complex vector transmission function of complex vector decoupling controller, K is taken_a=1/K_p+jω_e/K_iWhen,In second complex vector transmission function of complex vector decoupling controllerCoefficient above can offset one Individual zero pole point, the second complex vector transmission function can be turned to：

Knowable to above formula, the plural zero point of the second complex vector transmission function of complex vector decoupling controller is-K_i/K_p-j ω_e, and the position of zero point changes with speed.

Work as K_p/K_i=L_s/R_sWhen, the plural zero point and first of the second complex vector transmission function of complex vector decoupling controller Limit in complex vector transmission function is offseted completely, and now, the second complex vector transmission function can be turned to：

Thus, counteracting the coupling terms produced during rotating coordinate transformation in full speed rangeCan have Effect improves the control performance of electric current loop.

In embodiments of the present invention, further, complex vector decoupling controller is according to complex vector decoupling controller The voltage x current vector of d axles, q axles, again contravariant changes scalar realization into second complex vector transmission function.The realization for finally giving In dq shaft current ring models, d axles, the electric current of q axlesAfter the complex vector decoupling controller process of d axles, q axles Transmit to SVPWM inverters, transmit to PMSM Jing after the conversion of SVPWM inverters, to control the electric current loop of PMSM.

In embodiments of the present invention, the output voltage of d, q axle is input to SVPWM inverters and carries out amplitude limit, SVPWM simultaneously The output voltage of inverter is limited within hexagon, if the output voltage of complex vector decoupling controllerBeyond six Side shape border, then the output voltage after modulation can be rested at hexagonal boundaries, therefore, after amplitude limit on each coordinate axes It has been mutually decoupling that voltage is, and eliminates integration amplitude limit link.

Complex vector decoupling controller in order to contrast embodiment of the present invention is decoupled with electric voltage feed forward of the prior art The control effect of current loop controller, carries out emulation experiment.The parameter of permagnetic synchronous motor is as shown in table 1 below in emulation；Two kinds In current loop controller, desired bandwidth is set to 1.5KHz, T_iIt is set to L/R.

The permagnetic synchronous motor simulation parameter of table 1

The load torque for applying a 0.5Nm to permagnetic synchronous motor starts, when given q shaft currents are according to i_q= When the rule of 10sin (1000t) changes, current tracking waveform when being respectively adopted two kinds of controllers for obtaining is as shown in Figure 7；From 0 second starts, and motor obtains rotating speed simulation waveform such as Fig. 8 of two kinds of controllers of correspondence with the rotating speed of target starting with full load of 1000rpm It is shown.

From simulation result as can be seen that compared with electric voltage feed forward decoupling current ring controller, complex vector decoupling controller pair The control of electric current loop can reach more preferable control effect, its response speed faster, and non-overshoot phenomenon.

Further demonstrate control effect of the complex vector decoupling controller to permagnetic synchronous motor, with no load test platform come The speed stabilizing control accuracy and sinusoidal current tracking performance of access control device, electric current when being mutated with the torque of load test platform validation Tracking performance.

The parameter of electric machine of no load test platform is as shown in table 2.Electric current loop PI controller desired bandwidths are set to 1500Hz, speed Degree ring adopts same control parameter, on no load test platform, allows permagnetic synchronous motor no-load running under velocity mode, divides Other target setting rotating speed is 10%, 50%, 100% rated speed, given anti-with speed using upper computer software picking rate Feedback, given value of current and current feedback, the sampling interval is 100us.

The parameter of electric machine of the no load test platform of table 2

In rated speed, ± 1.5 ‰ are reached using rotating speed control accuracy during complex vector decoupling controller, current precision Reach ± 2.75%；And during conventional voltage feedforward decoupling controller, rotating speed control accuracy is ± 2 ‰, current precision is ± 4%, It can be seen that, complex vector decoupling controller can effectively improve no-load current stable state accuracy.

Permagnetic synchronous motor no-load running sets the volume that torque instruction is that an amplitude is fixed as 10% in torque mode Determine the sine wave that torque, frequency are fixed as 1500Hz, with host computer software collection given value of current and current feedback, the sampling interval is 50us.It is the current tracking oscillogram of comparison voltage feedforward decoupling controller referring to Fig. 9 and Figure 10, Fig. 9, Figure 10 is complex vector solution Current tracking oscillogram during coupling controller.Wherein, electricity when a, b, c represent that respectively rotating speed is 1000Hz, 1500Hz, 2000Hz Stream tracking oscillogram.Contrast Fig. 9 and Figure 10 understand, during using complex vector decoupling controller, can effectively strengthen transient current with Track control ability；And during using complex vector decoupling controller, the delay of tracking is less.

The permagnetic synchronous motor parameter of load test platform as shown in table 3, on load test platform, first allows permanent-magnet synchronous Empty load of motor operates in rotating speed pattern, and rotating speed of target is set to 10% rated speed, then to permagnetic synchronous motor impact one The load torque of 20Nm, with host computer software collection speed preset and feedback, given value of current and feedback, the sampling interval is 100us.

The parameter of electric machine of the no load test platform of table 3

During using complex vector decoupling controller, speed stabilizing current fluctuation is ± 2%, effectively enhances the electric current under loading condition Stable state accuracy, and the delay of electric current loop tracking is about 150us, illustrates that complex vector decoupling controller does not cause electric current loop What is tracked is delayed.

Therefore, the electric current of permagnetic synchronous motor is controlled using the complex vector decoupling controller of the embodiment of the present invention When, the speed of current tracking can be improved, and reduce the delay of current tracking；And also current wave when can reduce speed stabilizing It is dynamic, and the lifting of electric current stable state accuracy causes the delayed of electric current loop tracking.

It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention, And in actual applications, can in the form and details to it, various changes can be made, without departing from the spirit and scope of the present invention.

Claims (10)

1. a kind of electric current loop decoupling control method based on complex vector, it is characterised in that include：

Obtain the first complex vector transmission function of the electric current loop controlled device of the complex vector model of the permagnetic synchronous motor；

The current rotating speed of the permagnetic synchronous motor is introduced the electric current loop of the complex vector model of the permagnetic synchronous motor, construction Second complex vector transmission function of one complex vector decoupling controller for having plural zero point；

Set the core parameter of the second complex vector transmission function of the complex vector decoupling controller so that second complex vector The described plural zero point of transmission function is offseted completely with the limit of the first complex vector transmission function of electric current loop controlled device；

The electric current loop of the permagnetic synchronous motor is controlled using the complex vector decoupling controller.

2. the electric current loop decoupling control method based on complex vector according to claim 1, it is characterised in that the permanent magnetism is same The d axles of step motor, q shaft voltage equations are：

$\left\{\begin{array}{c}ud=\frac{{\mathrm{d\ψ}}_d}{dt}-{\mathrm{\ω}}_e{\mathrm{\ψ}}_q+{\mathrm{Ri}}_d\\ u_q=\frac{{\mathrm{d\ψ}}_q}{dt}-{\mathrm{\ω}}_e{\mathrm{\ψ}}_d+{\mathrm{Ri}}_q\end{array}\right.$

Wherein, the flux linkage equations of d, q axle are：

ψ_d、ψ_qIt is respectively d, q axle magnetic linkage, i_d、i_qIt is respectively d, q shaft current, L_d、L_qIt is respectively d, q axle synchronous inductance, ψ_fIt is rotor Magnetic linkage, ω_eIt is electromagnetism rotating, R is stator resistance；

The permagnetic synchronous motor voltage and current complex vector can be expressed as：

First complex vector transmission function of the electric current loop controlled device of the complex vector model for obtaining the permagnetic synchronous motor, Including：

D axles, q shaft voltage equations according to permagnetic synchronous motor, constructs the multiple arrow of the permagnetic synchronous motor in d-q coordinate systems Amount model：

${\tilde{u}}_{dq}=R_s{\tilde{i}}_{dq}+L_{s}p{\tilde{i}}_{dq}+{\mathrm{j\ω}}_e{L}_s{\tilde{i}}_{dq}+{\mathrm{j\ω}}_e{\mathrm{\ψ}}_f$

Wherein, L_d=L_q=L_s, R=R_s, p is differential operator,WithIt is respectively the voltage and current of complex vector.

3. the electric current loop decoupling control method based on complex vector according to claim 2, it is characterised in that the acquisition institute The first complex vector transmission function of the electric current loop controlled device of the complex vector model of permagnetic synchronous motor is stated, including：

First complex vector transmission letter of electric current loop controlled device is obtained according to the complex vector model of the permagnetic synchronous motor Number：

$G_{dq}\left(s\right)=\frac{{\tilde{I}}_{dq}\left(s\right)}{{{\tilde{U}}_{dq}}^{\left(s\right)}}=\frac{1}{L_{s}s+R_s+{\mathrm{j\ω}}_e{L}_s}$

Wherein, by counter electromotive force e=j ω_eψ_fUsed as disturbance term, the limit of the first complex vector transmission function is-R_s/L_s-j ω_e。

4. the electric current loop decoupling control method based on complex vector according to claim 3, it is characterised in that it is described will be described The current rotating speed of permagnetic synchronous motor introduces the electric current loop of the complex vector model of the permagnetic synchronous motor, and construction one has plural number Second complex vector transmission function of the complex vector decoupling controller of zero point, including：

The current rotating speed of the permagnetic synchronous motor is introduced the electric current loop construction of the complex vector model of the permagnetic synchronous motor Complex vector decoupling controller complex vector model：

${\tilde{u}}_{dq}^{*}=(K_p+\frac{K_i}{s})({\tilde{i}}_{dq}^{*}-{\tilde{i}}_{dq})-\frac{K_a{K}_i}{s}({\tilde{u}}_{dq}^{*}-{\tilde{u}}_{dq})+j\frac{K_p{\mathrm{\ω}}_e}{s}({\tilde{i}}_{dq}^{*}-{\tilde{i}}_{dq})+{\mathrm{j\ω}}_e{\widehat{\mathrm{\ψ}}}_f;$

The complex vector decoupling controller complex vector model is subtracted each other with the complex vector model of the permagnetic synchronous motor, eliminates anti- Electromotive force item, the second complex vector transmission function for obtaining the complex vector decoupling controller is：

${\tilde{i}}_{dq}=\frac{K_{p}s+K_i+{\mathrm{jK}}_p{\mathrm{\ω}}_e}{L_s{s}^2+(R_s+K_p+{\mathrm{j\ω}}_e{L}_s)s+K_i+{\mathrm{jK}}_p{\mathrm{\ω}}_e}*$

$\{{\tilde{i}}_{dq}^{*}-\frac{s+K_a{K}_i}{K_{p}s+K_i+{\mathrm{jK}}_p{\mathrm{\ω}}_e}(u_{dq}^{*}-u_{dq})\}$

Wherein, K_p、K_a、K_iFor the core parameter of complex vector decoupling controller, s is differential operator.

5. the electric current loop decoupling control method based on complex vector according to claim 4, it is characterised in that the setting institute State the core parameter of the second complex vector transmission function of complex vector decoupling controller so that the second complex vector transmission function The plural zero point is offseted completely with the limit of the first complex vector transmission function of electric current loop controlled device, including：

Work as K_a=1/K_p+jω_e/K_iWhen, in the second complex vector transmission function of the complex vector decoupling controllerCoefficient above can offset a zero pole point；

The plural zero point of the second complex vector transmission function of the complex vector decoupling controller is-K_i/K_p-jω_e, work as K_p/K_i =L_s/R_sWhen, the plural zero point is offseted completely with the limit in the first complex vector transmission function.

6. the electric current loop decoupling control method based on complex vector according to claim 1, it is characterised in that described based on multiple The electric current loop decoupling control method of vector also includes：

According to the second complex vector transmission function of the complex vector decoupling controller d axles, q axles voltage x current vector again Contravariant changes scalar into, realizes the complex vector decoupling controller.

7. a kind of electric current loop decoupling and controlling system based on complex vector, it is characterised in that include：Complex vector decoupling controller, SVPWM inverters, permagnetic synchronous motor and speed ring PI controllers, the complex vector decoupling controller is inverse with the SVPWM Become the connection of device, the speed ring PI controllers and the permagnetic synchronous motor, the permagnetic synchronous motor is inverse with the SVPWM Become device connection, the speed ring PI controllers are also connected with the permagnetic synchronous motor, wherein, the permagnetic synchronous motor is answered The limit of the first complex vector transmission function of the electric current loop controlled device of vector model and the of the complex vector decoupling controller The plural zero point of two complex vector transmission functions is offseted completely.

8. the electric current loop decoupling and controlling system based on complex vector according to claim 7, it is characterised in that

The d axles of the permagnetic synchronous motor, q shaft voltage equations are：

$\left\{\begin{array}{c}{u}_d=\frac{{\mathrm{d\ψ}}_d}{dt}-{\mathrm{\ω}}_e{\mathrm{\ψ}}_q+{\mathrm{Ri}}_d\\ u_q=\frac{{\mathrm{d\ψ}}_q}{dt}-{\mathrm{\ω}}_e{\mathrm{\ψ}}_d+{\mathrm{Ri}}_q\end{array}\right.$

Wherein, the flux linkage equations of d, q axle are：

ψ_d、ψ_qIt is respectively d, q axle magnetic linkage, i_d、i_qIt is respectively d, q shaft current, L_d、L_qIt is respectively d, q axle synchronous inductance, ψ_fIt is rotor Magnetic linkage, ω_eIt is electromagnetism rotating, R is stator resistance；

The permagnetic synchronous motor voltage and current complex vector can be expressed as：

The complex vector model of the permagnetic synchronous motor is d axles, the q shaft voltage equation according to permagnetic synchronous motor, in d-q coordinates Fasten construction to be formed：

${\tilde{u}}_{dq}=R_s{\tilde{i}}_{dq}+L_{s}p{\tilde{i}}_{dq}+{\mathrm{j\ω}}_e{L}_s{\tilde{i}}_{dq}+{\mathrm{j\ω}}_e{\mathrm{\ψ}}_f$

Wherein, L_d=L_q=L_s, R=R_s, p is differential operator,WithIt is respectively the voltage and current of complex vector；

First complex vector transmission function of the electric current loop controlled device of the complex vector model of the permagnetic synchronous motor is according to institute The complex vector model for stating permagnetic synchronous motor is obtained：

$G_{dq}\left(s\right)=\frac{{\tilde{I}}_{dq}\left(s\right)}{{\tilde{U}}_{dq}\left(s\right)}=\frac{1}{L_{s}s+R_s+{\mathrm{j\ω}}_e{L}_s}$

Wherein, by counter electromotive force e=j ω_eψ_fUsed as disturbance term, the limit of the first complex vector transmission function is-R_s/L_s-j ω_e。

9. the electric current loop decoupling and controlling system based on complex vector according to claim 8, it is characterised in that

The second complex vector transmission function is to introduce the permanent-magnet synchronous by the current rotating speed by the permagnetic synchronous motor The electric current loop of the complex vector model of motor constructs to be formed：

$\begin{array}{c}{\tilde{i}}_{dq}=\frac{K_{p}s+K_i+{\mathrm{jK}}_p{\mathrm{\ω}}_e}{L_s{s}^2+(R_s+K_p+{\mathrm{j\ω}}_e{L}_s)s+K_i+{\mathrm{jK}}_p{\mathrm{\ω}}_e}*\\ \{{\tilde{i}}_{dq}^{*}-\frac{s+K_a{K}_i}{K_{p}s+K_i+{\mathrm{jK}}_p{\mathrm{\ω}}_e}(u_{dq}^{*}-u_{dq})\}\end{array}$

Wherein, K_p、K_a、K_iFor the core parameter of complex vector decoupling controller.

10. the electric current loop decoupling and controlling system based on complex vector according to claim 9, it is characterised in that

The complex vector decoupling controller is d according to the second complex vector transmission function of the complex vector decoupling controller Axle, q axles voltage x current vector again contravariant change into scalar realization.